1. SylabUZ
2. Wydział Nauk Inżynieryjno-Technicznych
3. semestr letni 2024/2025
4. Automatyka i robotyka - Program Erasmus drugiego stopnia
5. Advanced control methods

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Advanced control methods - opis przedmiotu

Cel przedmiotu

1. To familiarize with modern methods of designing control systems based on optimization methods.

2. Develop understanding of the model uncertainty and external disturbances impacts, and how to minimize them.

3. To familiarize with methods of formulating and solving synthesis problems of static and dynamic controllers using linear matrix inequalities.

Wymagania wstępne

Zapisz zmiany

Control Theory. Optimization methods.

Zakres tematyczny

Application of linear matrix inequalities in control theory. Stability and stabilization problems in the form of linear matrix inequalities. Synthesis of state  feedback controllers under multi-criteria constrains.

Analysis of control systems robustness. Disturbance attenuation using H2 and Hinf norms of systems. Design of static state and output controllers by  linear matrix inequality techniques. Extending the conditions to the case of model uncertainty and external disturbances. Controller design with an additional integrator.

Designing of dynamic controllers. Formulating the design as the optimization problem. Extensions of design procedures to cases of model parameter uncertainties and external disturbances. Minimization of H2 and Hinf norms of systems.

Designing discrete controllers for discrete plants using optimization methods. Static and dynamic controllers for discrete plants.

Metody kształcenia

lecture: classical lecture,

laboratory: laboratory exercises, projects carried out in two-person group.

Efekty uczenia się i metody weryfikacji osiągania efektów uczenia się

Opis efektu	Symbole efektów	Metody weryfikacji	Forma zajęć

Warunki zaliczenia

lecture: final test.

laboratory: the passing condition is to obtain positive marks from all laboratory exercises and projects to be planned during the semester as well as give back all reports from laboratory exercises.

Final grade = lecture: 50% + laboratory: 50%

Literatura podstawowa

1. Wojciech Koziński. Projektowanie regulatorów. Wybrane metody klasyczne i optymalizacyjne. Wydawnictwo: OWPW.2004

2. S.Boyd, L. ElGhaoui, E. Feron, V. Balakrishnan. Linear Matrix Inequalities in System and Control Theory. SIAM, 1994.

3. L. El-Ghaoui, S.Niculescu. Advances In Linear Matrix Inequality Methods In Control. SIAM 2000.

Literatura uzupełniająca

1.R.C. Dorf, R.H. Bishop, Modern control system, Pearson Education, Inc. London, 2008.

2.R.F. Stengel, Optimal Control and Estimation, Dover Publications, Mineola, N.Y., 1994

Uwagi

Zmodyfikowane przez dr hab. inż. Wojciech Paszke, prof. UZ (ostatnia modyfikacja: 09-04-2024 14:14)